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Chapter 16
16.1
16.2
α = 10e−0.5t ω = −20e−0.5t + C1 θ = 40e−0.5t + C1 t + C2
Initial conditions: ω = θ = 0 when t = 0. ∴ C1 = 20 rad/s, C2 = −40 rad
∴ ω = −20e−0.5t + 20 rad/s θ = 40e−0.5t + 20t − 40 rad
When t → ∞, ω → 20 rad/s. ∴ ω ∞ = 20 rad/s

When ω = 0.5ω ∞ :
10 = −20e−0.5t + 20 e−0.5t = 0.5 t = 1.3863 s

θ = 40(0.5) + 20(1.3863) − 40 = 7.726 rad = 1.230 rev
16.3
dω dω dθ dω
α== = ω
dt dθ dt dθ
1 2
∴ ω dω = α dθ ω = αθ + C1 (α is constant)
2
Initial condition: ω = 6000 rev/min when θ = 0. ∴ C1 = 60002 /2 (rev/min)2
1
∴ (ω 2 − 60002 ) = αθ
2
When θ = 3600 rev, ω = 1200 rev/min.
1
∴ (12002 − 60002 ) = α(3600) α = −4800 rev/min2
2
dω
α= α dt = dω αt = ω + C2
dt
Initial condition: ω = 6000 rev/min when t = 0. ∴ C2 = −6000 rev/min
When ω = 0:
αt = C2 − 4800t = −6000 t = 1.250 min = 75.0 s

275

c 2017 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
16.4
θ = −4t2 + 24t − 10 rad ω = −8t + 24 rad/s α = −8 rad/s2
(a) When t = 4 s:
ω = −8(4) + 24 = −8 rad/s α = −8 rad/s2
(b) Note that the rotation reverses direction when t = 3 s (obtained by setting ω = 0).
When t = 0, θ = −10 rad
When t = 3 s, θ = −4(3)2 + 24(3) − 10 = 26 rad
When t = 4 s, θ = −4(4)2 + 24(4) − 10 = 22 rad
The total angle turned through is θtot = (10 + 26) + (26 − 22) = 40 rad
16.5

α = 4 + 6t ω = α dt = 4t + 3t2 + C1

θ = ω dt = 2t2 + t3 + C1 t + C2
Initial conditions: ω = 0 and θ = 0 when t = 0. ∴ C1 = C2 = 0

∴ ω = 4t + 3t2 θ = 2t2 + t3
When ω = 24 rad/s:
24 = 4t + 3t2 t = 2.239 s ∴ θ = 2(2.239)2 + 2.2393 = 21.3 rad
16.6
276

16.7
16.8
α = 12 rad/s2 ω = 12t + C1 rad/s θ = 6t2 + C1 t + C2 rad
Initial conditions: θ = 0, ω = −24 rad/s when t = 0. ∴ C1 = −24 rad/s and C2 = 0.
∴ ω = 12t − 24 rad/s θ = 6t2 − 24t rad
Note that the rotation reverses direction when t = 2 s (obtained by setting ω = 0).
When t = 0, θ = 0.
When t = 2 s, θ = 6(2)2 − 24(2) = −24.0 rad
When t = 4 s, θ = 6(4)2 − 24(4) = 0
The total angle turned through is θtot = 48 rad
16.9

1/2 8
ω = 4t θ= ω dt = t3/2 + C
3

8 3/2
Δθ = θ|t=6 s − θ|t=0 s = (6) + C − C = 39.2 rad
3
277

16.10
θ = sin βt θ̇ = β cos βt θ̈ = −β 2 sin βt
at = Rθ̈ = −Rβ 2 sin βt

2
an = Rθ̇ = Rβ 2 cos2 βt

a= a2t + a2n = Rβ 2 sin2 βt + cos4 βt
The acceleration is maximized when

d
(sin2 βt + cos4 βt) = 0
d(βt)
2 sin βt cos βt + 4 cos3 βt(− sin βt) = 0
There are three solutions:
βt = 0 yielding a = Rβ 2
π
βt = yielding a = Rβ 2
2 √
π 3 2
βt = yielding a = Rβ
4 2
∴ amax = Rβ 2
16.11
Pulley B:
v = (RB )o ω B 12.2 = 0.508ω B ω B = 24 rad/s

a = (RB )o αB − 8.53 = 0.508αB αB = −16.8 rad/s2
Belt between B and C:
v = (RB )i ω B = .203(24) = 4.872 m/s

a = (RB )i αB = .203(−16.8) = −3.410 m/s2
Pulley C:
v = RC ω C 4.872 = 0.61ω C ω C = 7.99 rad/s

a = R C α C − 3.410 = 0.61αC αC = −5.59 rad/s2
278

16.12
Left pulley:
vA = (RA )i ω A 3.66 = 0.2286ω A ω A = 16 rad/s

2
(aA )n = (RA )o ω 2A = 0.61(16)2 = 156.2 m/s (aA )t = (RA )o αA = 0.610αA
2 2
aA = (aA )n + (aA )t 2
182.9 = 156.2 + 0.3721α2A
2 2
αA = 155.99 rad/s2
Right pulley:
v B = RB ω B 3.66 = 0.381ω B ω B = 9.61 rad/s

(aB )n = RB ω B = 0.381(9.61) = 35.19 m/s2
2 2
(aB )t = abelt = (RA )i αA = 0.2286(155.99) = 35.66 m/s2

√
aB = (aB )2n + (aB )2t = 35.192 + 35.662 = 50.10 m/s2
16.13
rA 50
ωB = ω A = (320) = 457.1 rad/s
rB 35
ω C = ω B = 457.1 rad/s
rC 20
ωD = ω C = (457.1) = 203 rad/s
rD 45
16.14
279

16.15
× rC/O ; aC = α
(a) Vector eqns.: vC = ω × rC/O + ω
× (ω
× rC/O ) = α
× rC/O + ω
× vC
rC/O = −406i + 356j + 305k in. = −2.4j rad/s
ω = 7.2j rad/s2
α

i j k

vC = 0 −2.4 0 = −732i − 974.4k mm/s
−406 356 305

i j k i j k

aC = 0
7.2 0 = + 0 −2.4 0
−406 356 305 −732 0 974.4
= (2196i + 2338.6k) + (2923.2i − 1756.8k) = 4534.6i + 1166.8k mm/s2
(b) Scalar equations
vC = Rω = 508(2.4) = 1219.2 mm/s

∴ vC = −0.6(1219.2)i − 0.8(1219.2)k
= −731.5i − 975.4k mm/s
(aC )n = Rω2 = 508(2.4)2 = 2926.1 mm/s2
(aC )t = Rα = 508(7.2) = 3657.6 mm/s2
∴ aC = [0.8(2926.1) + 0.6(3657.6)] i + [−0.6(2926.1) + 0.8(3657.6)] k
= 4534.4i + 1170.4k mm/s2
16.16
0.36i + 0.54j − 0.3k
λAC = √ = 0.5035i + 0.7553j − 0.4196k
0.362 + 0.542 + 0.32

i j k

vB = ω × rB/C = 4λAC × (−0.54j) = 4 0.5035 0.7553 −0.4196

0 −0.54 0
vB = −0.9063i − 1.0876k m/s
αB = α × rB/C + ω × (ω × rB/C ) = α × rB/C + ω × vB

= 6λAC × (−0.54j) + 2λAC × vB

i j k i j k

= 6 0.5035 0.7553 −0.4196 + 4 0.5035 0.7553 −0.4196
0 −0.54 0 −0.9063 0 −1.0876
= −4.65i + 3.71j − 1.107k m/s2
280

16.17
Let w be the width of the tape.
dV1 = Vol. of tape leaving the reel during time dt is v0 hw dt
dV2 = Vol. change of tape on the reel (approx.) is − 2πRw dR
dR vo h
dV1 = dV2 : v0 h dt = −2πR dR =−
dt 2πR
v0
ω=
R
dω dω dR v0 dR v0 v0 h v2h
α= = =− 2 =− 2 − = 0 3
dt dR dt R dt R 2πR 2πR
16.18
−381j + 228.6k
ω = ωλCA = 25 √ = −21.44j + 12.862k rad/s
3812 + 228.62
rB/A = 305i − 228.6k mm

i j k

vB = ω × rB/A = 0 −21.44 12.862
305 0 −228.6
= 4901.2i + 3922.9j + 6539.2k mm/s
= 4.901i + 3.923j + 6.539k m/s

i j k

aB = ω × v B = 0 −21.44 12.862

4901.2 3922.9 6539.2
= −190657i + 63039j + 105082k mm/s2
= −191i + 63j + 105k m/s2
16.19
vB = vA + vB/A
(vB)y 2.44 m/s 2

o
= 60 +
B (vB)x A A B
0.61 m
+ −→ (vB )x = 2.44 cos 60◦ = 1.22 m/s

√
∴ (vB )y = vB2 − (vB )2x = 1.832 − 1.222 = 1.364 m/s
+ ↑ (vB )y = 2.44 sin 60◦ + 0.61ω 1.364 = 2.44 sin 60◦ + 0.61ω
ω = −1.228 rad/s ω = 1.228 rad/s
281

16.20
Wheel rolls without slipping: vC = Rω = 0.533ω

vB = vC + vB/C
2.44 m/s 0.229

= 0.533 +
B B C
(vB)x C 0.229 m
+ ↑ 2.44 = 0.229ω ω = 10.655 rad/s

vC = 0.533ω = 0.533(10.655) = 5.679 m/s −→
16.21
Wheel rolls without slipping: vC = Rω

vA = vC + vB/C + vA/B
B
R 2
AB 2R
vA R R
A = C
+ C B +
A
45o
2 2 R AB
√
+ ↑ 0 = Rω − 2 2Rω AB sin 45◦ ω AB = 0.5ω
√ √
+ ←− vA = Rω + 2 2Rω AB cos 45 = Rω + 2 2R(0.5ω) cos 45◦
◦
vA = 2Rω ←−
16.22
vO = vA + vO/A
1.83 m/s 1.22 m/s 0.762

O = A + O
0.762 m
.A
+ → −1.83 = 1.22 − 0.762ω ω = 4.0 rad/s
282

16.23
vA = vB + vA/B
A 0.16
0.16 m
0.5 m/s
A = 0.6 m/sB +
B
+ → 0.5 = −0.6 + 0.16ω ω = 6.875 rad/s

vC = vB + vC/B
C 0.6875 m/s
vC
0.1 m
0.6 m/s
C = B +
6.875 rad/s
B
+ → vC = −0.6 + 0.6875 = 0.875 m/s →
16.24
283

16.25
16.26
vA = vB + vA/B
B .
vA
25
305 mm/s
= +
4m
A
m
B A
3
254 4
3
+ ↑ 0 = 305 − (254ω) ω = 2.0 rad/s
5
4 4
+ ← vA = (254ω) = (254 × 2) = 406 mm/s ←
5 5
284

16.27
16.28
D x
B
vB
y
A d 0.762 m
0.61 m/s
d csc
Solution I (scalar notation)
vB = vA + vB/A
d
vB B
d
vA
B =A + A
285

+ 0 = −vA sin θ + ωd 0 = −0.61 sin θ + ω(0.762 csc θ)
ω = 0.8 sin2 θ rad/s
Solution II (vector notation)
vB = vA + ω × rB/A
vB i = 0.61 cos θ i − 0.61 sin θ j + ωk × 0.762 csc θ i
vB i = 0.61 cos θ i − 0.61 sin θ j + 0.762ω csc θ j
Equating j-components:
ω = −0.61 sin θ + 0.762ω csc θ ω = 0.8 sin2 θ rad/s
16.29
vC = vB + vC/B
ωCD × rC/D = ωAB × rB/A + ωBC × rC/B
ω CD k × 60i = −2.8k × (−30i) + ω BC k × (30i + 60j)
60ω CD j = 84j + ω BC (30j − 60i)
Equating like components:
−60ω BC = 0 ∴ ω BC = 0
60ω CD = 84 ∴ ω CD = 1.40 rad/s
16.30
y 381 D 152.4
203
B A E x
vB = vD + vB/D
ωAB × rB/A = ωDE × rD/E + ωBC × rB/D
6k × (152.4i) = ω DE k × (−152.4i + 203j) + ω BD k × (−381i − 203j)
−914.4j = ω DE (−152.4j − 203i) + ω BD (−381j + 203i)
0 = −203ω DE + 203ω BD − 914.4 = −152.4ω DE − 381ω BD

ω BD = ω DE = 1.714 rad/s
286

16.31
16.32
y B
457
68
A 30o x
6
762 C
Geometry : 457 cos 30◦ + 686 cos φ = 762 φ = 57.73◦

rB/A = 457(i cos 30◦ + j sin 30◦ ) = 395.77i + 228.5j mm
rC/B = 686(i cos 57.73◦ − j sin 57.73◦ ) = 366.26i − 580.04j mm
vC = vB + vC/B
vC j = ωAB × rB/A + ωBC × rC/B
= 20k × (395.77i + 228.5j) + ω BC k × (366.26i − 580.04j)
= 7915.4j − 4570i + ω BC (366.26i − 580.04j) mm/s
287

0 = −4570 + 580.04ω BC ω BC = 7.879 rad/s
vC = 7915.4 + 7.879(366.26) = 10801 mm/s ↑
16.33
vB = vA + vB/A
30o vB 20o 0.5

= + 0.5
2 m/s m
+ −→ vB sin 30◦ = 0.5ω sin 20◦ vB = 0.3420ω

+ ↑ vB cos 30 = −2 + 0.5ω cos 20◦
◦
(0.3420ω) cos 30◦ = −2 + 0.5ω cos 20◦ ω = 11.516 rad/s

vC = vA + vC/A
(vC)y 11.516 rad/s o
20 11.516 m/s
+
C (vC)x = 2 m/s 1.0
m C
+ −→ (vC )x = 11.516 sin 20◦ = 3.939 m/s

+ ↑ (vC )y = −2 + 11.516 cos 20◦ = 8.822 m/s
√
vC = 3.9392 + 8.8222 = 9.66 m/s
16.34
m B
0.4 0.25 m
A
0.25
θ = sin−1 = 38.68◦
0.4
vC = vB + vC/B
1.0 m/s C
38.68o
vC 38.68o 0.4 m
B
C = 0.4
m +0.4 BC BC B
.
2.5 rad/s .
A
+ ↑ 0 = (1.0 − 0.4ω BC ) cos 38.68◦ ω BC = 2.50 rad/s

+ ←− vC = (1.0 + 0.4ω BC ) sin 38.68 = [1.0 + (0.4 × 2.5)] sin 38.68◦
◦
= 1.250 m/s ←−
288

16.35
16.36
By geometry, the angle between BE and the

horizontal is ϕ = tan−1 (197.97/571.3) =
19.11◦ .
Solution I (using scalar notation)
Equating components:
+
→ −vD cos 19.11◦ = −3657.4 sin 60◦ + LBD ωBE sin 19.11◦ = −3167.57 + 197.97ωBE
+ ↑ −vD sin 19.11◦ = 3657.4 cos 60◦ − LBD ωBE cos 19.11◦ = 1828.7 − 571.3ωBE
Solving gives ωBE = 4.57 rad/s (CCW)
16.37
vB 80 D
B
160 o y
30
A vA x
289

vB = vA + vB/A 30j = vA i + ωBD × rB/A
30j = vA i + ω BD k × 160(i cos 30◦ + j sin 30◦ )
30j = vA i + ω BD (138.56j − 80i)
Equating y-components:
30 = 138.56ω BD ω BD = 0.2165 rad/s
vD = vB + vD/B = 30j + ωBD × rD/B

= 30j + 0.2165k × 80(i cos 30◦ + j sin 30◦ )
= 30j + 15.0j − 8.660i = 45.0j − 8.660i mm/s
vD = 45.02 + (−8.660)2 = 45.8 mm/s
16.38
290

16.39
AB = ωAB k rad/s ω
ω 0 = 5k rad/s ω
BC = ωBC k rad/s
rB/A = 635j mm rB/D = −762 mm
rD/E = 381(sin 35◦ i + cos 35◦ j)
= 218.5i + 312.1j
vB = vD + vB/D
AB × rB/A = ω
ω 0 × rD/E + ω
BD × rB/D
ωAB k × 635j = 5k × (218.5i + 312.1j) + ωBD k × (−762)
−635ωAB i = 1092.5j − 1560.5i − 762ωBD j
Equating components: −635ωAB = 1560.5 ∴ ωAB = 2.46 rad/s (CCW)
0 = 1092.5 − 762ωBD ∴ ωBD = 1.434 rad/s (CCW)
16.40
127 mm
O B
508 mm/s
m
.4 m
305 mm
330
.
A vA
Point B is the I.C. of the disk.
vO = ω OB 508 = 127ω ω = 4 rad/s
vA = ω AB = 4(330.4) = 1322 mm/s
16.41
305 mm/s
B 152.4 O
25
203
3
.8
m
m
vA
A
291

Point O is the I.C. of the disk.
vB = OB ω 305 = 152.4ω ω = 2 rad/s

vA = OA ω = 203(2) = 406 mm/s
16.42
= 2.5 rad/s
300
vG
G O vO = 500 mm/s
3
2 e d = 200
C
Dimensions
in mm
vO 500
d= = = 200 mm
ω 2.5
The directions of vO and vG determine the location of the instant center C of the
wheel.
√
e = 3002 + 2002 = 360.6 mm
vG = eω = 360.6(2.5) = 902 mm/s56.3◦
16.43
292

16.44
(b) Point C is the instant center:

(a) Point C (1.22 m, 0.915 m) is the instant

center 381
xC = 0, yC = 203 + (381)
203
= 918.1 mm
16.45
293

16.46
vC
vB
24 rad/s 80 120 B
A C B I.C. of B
vB = vA + vA/B = 0 + ω AB AB (A and B on the arm AB)

vB = 4.8(200) = 960 mm/s
vC = vA + vC/A = 0 + ω A AC (A and C on gear A)

vC = 24(80) = 1920 mm/s
The velocities vC and vB establish the instant center for velocities of gear B.
vC 1920
∴ ωB = = = 8 rad/s
240 240
16.47
0.5 m/s
0.5 m/s
A
a 60 mm
C
I.C.
160 a 100 mm
B
0.6 m/s
0.6 m/s
Velocities of A and B establish the I.C. of the gear.
a 160 − a
= a = 72.73 mm
0.5 0.6
vA 500
ω= = = 6.875 rad/s
a 72.73
vC = (a − AC)ω = (72.73 − 60) (6.875) = 87.5 mm/s →
16.48
E BC
351.61 mm
mm
406
vB
B vC
30 o C
152.4 mm
203 mm 101.6 mm
6 rad/s 60o CD
A D
294

203
Geometry: BE = ◦
= 406 mm CE = 203 tan 60◦ = 351.61 mm
cos 60
vB = ω AB AB = 6(152.4) = 914.4 mm/s
vB 914.4
ω BC = = = 2.25 rad/s
BE 406
vC = ω BC CE = 2.25(351.61) = 791.1 mm/s
vC 791.1
ω CD = = = 7.79 rad/s
CD 101.6
16.49
The coordinates of the locus of the instant cen-
ter C are
xC = 1.53 cos θ m and yC = 1.53 sin θ m
Therefore, the locus of C is a quartercircle of

radius 1.53 m that is centered at point O.
16.50
Point C is the instant center for the bar AB.
Similar triangles:
4.57 2.13
=
2.44 + a a
which gives a = 2.13 m
vB 2.13
ω= = = 1.0 rad/s CCW
a 2.13
vG = (4 + a)ω = (1.22 + 2.13)(1.0) = 3.35 m/s ∴ vG = −3.35j m/s
16.51
295

16.52
16.53
vC
CD
60
D C
Dimensions
60
in mm
vB
2.8 rad/s
B 30 A
I.C. of link AB is point A. This determines the direction of vB .

I.C. of link CD is point D. This determines the direction of vC .
Since vB and vC are parallel, link BC is translating. Therefore,
ω BC = 0
vB = vC
296

From motion of link AB:
vB = AB ω AB = 30(2.8) = 84.0 mm/s
From motion of link CD:
vC = CD ω CD 84.0 = 60ω CD ω CD = 1.40 rad/s
16.54
D C
mm
BC 762 mm/s
305
B
45o
vB
m
m
A
4
AB
2.
15
152.4 305
Geometry : = γ = 20.69◦
sin γ sin 45◦
β = 180◦ − 45◦ − 20.69◦ = 114.3◦
AC = CD = 3052 + 152.42 − 2(305)(152.4) cos 114.3◦ = 393.07 mm
AC 393.07
BD = ◦
− 152.4 = − 152.4 = 403.48 mm
sin 45 sin 45◦
vC 762
ω BC = = = 1.939 rad/s
CD 393.07
vB = ω BC BD = 1.939(403.48) = 782.3 mm/s
vB 782.3
ω AB = = = 5.13 rad/s
AB 152.4
16.55
A 686 mm
E
12 rad/s 60o
38
1m
vD
m
D
vB B
BC
F
297

AE 686
Geometry: BF = ◦
− AB = − 381 = 991 mm
cos 60 cos 60◦
vB = ω AB AB = 12(381) = 4572 mm/s

vB 4572
ω BC = = = 4.61 rad/s
BF 991
16.56
12 rad/s B BC
A 381 mm F E
330 mm
vB
686 mm D vD
BF 686 − 330
Geometry: β = tan−1
= tan−1 = 42.75◦
DF 331
BE = BF + DF cot β = (686 − 381) + 330 cot 42.75◦ = 662.0 mm
vB = ω AB AB = 12(381) = 4572 mm/s

vB 4572
ω BC = = = 6.91 rad/s
BE 662
16.57
vC C
BCD
E
0
61
B 457.5
F Dimensions
8 in millimeters
50 o
457.5
61
35 vB
A
0
48 rad/s vD
D

2 2 √
BF = BC − CF = 6102 − 457.52 = 403.48 mm
BF 403.48
BE = ◦
= = 492.56 mm
cos 35 cos 35◦
DE = DF + BF tan 35◦ = 457.5 + 403.48 tan 35◦ = 743.52 mm
vB = ω AB AB = 48(508) = 24384 mm/s

vB 24384
ω BCD = = = 49.50 rad/s
BE 492.56
vD = ω BCD DE = 49.50(743.52) = 36.81 m/s →
298

16.58
E
AD
30o 56
5.9
4m
m
52
8.2
8mm
610 mm D
mm
203
C vD
.
mm v
305 C
457.2 mm/s . 30o 60o .B

A
Point E is the I.C. of link AD. Its location is determined by the known directions of
the velocities at A and C.
305
AE = = 610 mm
sin 30◦
305
CE = = 528.28 mm
tan 30◦
√
DE = 528.282 + 2032 = 565.94 mm
vA = AE ω AD 457.2 = 610ω AD ω AD = 0.75 rad/s

vD = DE ω AD = 565.94(0.75) = 424.5 mm/s
16.59
299

16.60
vB
AB B
E
203
vA
O 406 mm/s
A 76.2
101.6
12
7
C disk

2 2 √
Geometry: OB = AB − AO = 2032 − 76.22 = 188.2 mm
76.2 3
BE = AO + OB = 76.2 + (188.2) = 217.4 mm
101.6 4
127 5
AE = OB = (188.2) = 235.3 mm
101.6 4
vO 406
ω disk = = = 4 rad/s vA = ω disk AC = 4(127) = 508 mm/s
OC 101.6
vA 508
ω AB = = = 2.159 rad/s
AE 235.3
vB = ω AB BE = 2.159(217.4) = 469 mm/s ↑
16.61
2
0.2 AB
B y B
8 m/s 2 m
= x + 0.2 o
30o 30 o A 30
6 m/s 2 0.2 AB
A AB
(sense indeterminate)
AB
aB = aA + aB/A
x+ −6 cos 30◦ = 8 sin 30◦ − 0.2ω 2AB ω AB = 6.78 rad/s

y+ −6 sin 30◦ = 8 cos 30◦ − 0.2αAB αAB = 49.6 rad/s2
300

16.62 For α counterclockwise, the no-slip
condition gives aA = 305α mm/s2 ←
+
→ (aD )x = −305α + (4/5)(4572) + (3/5)(508α) = 3657.6 mm/s2 (1)
+ ↑ (aD )y = 0 + (3/5)(4572) − (4/5)(508α) = 2743.2 − 406.4α mm/s2 (2)
(a) Substituting α = −6.75 rad/s2 , (1) and (2) give:
(aD )x = 3657.6 mm/s2 and (aD )y = 2743.2 − 406.4(−6.75) = 5486.4 mm/s2

√ 6593.8 mm
aD = 3657.62 + 5486.42 = 6593.8 mm/s2 ∴ aD =
56.3◦
(b) Substituting α = 6.75 rad/s2 , (1) and (2) give:
(aD )x = 3657.6 mm/s2 and (aD )y = 2743.2 − 406.4(6.75) = 0

∴aD = 3657.6 mm/s2 →
16.63
B
= 5 rad/s 25
4 rB/A
= 12 rad/s 2
10
1.6
.rA
y D/A v0
D a0
x
301

No-slip condition gives
aA = Rα = 254(12) = 2540 mm/s2
α = −12k rad/s2 ω = −5k rad/s

rD/A = −101.6j mm rB/A = 254j mm R = 254 mm
(a)
aD = aA + aD/A = Rαi + α × rD/A + ω × (ω × rD/A )
= 254(12)i + (−12k) × (−101.6j) + (−5k) × [(−5k) × (−101.6j)]
= 3048i − 1219.2i + 2540j = 1828.8i + 2540j mm/s2
(b)
aB = aA + aB/A = Rαi + a × rB/A + ω × (ω × rB/A )
= 254(12)i + (−12k) × 254j + (−5k) × [(−5k) × 254j]
= 3048i + 3048i − 6350j = 6096i − 6350j mm/s2
(c) The acceleration of the end of the string is the same as the horizintal component
of the acceleration of point D on the spool:
a0 = 1829i mm/s2
16.64
B
= 5 rad/s 25
4
= 12 rad/s2
10
1.6
.A
y v0
D a0
x
Note that the acceleration of point D on the spool is aD = (a0 →) + (aD )y ↑

aD = aA + aD/A
A
= 5 rad/s
(aD)y = 12 rad/s2
aA
D
406 mm/s2
=A + 101.6
101.6(12) = 1219.2 mm/s 2
D
101.6(5)2 = 2540 mm/s2

302

+ → 406 = aA − 1219.2 aA = 1625.2 mm/s2

+ ↑ (aD )y = 2540 mm/s2
∴ aD = 406i + 2540j mm/s2 aA = 1625.2i mm/s2
aB = aA + aB/A
254(5) 2 = 6350 mm /s2

B 254(12) = 3048 mm /s2
1625.2 mm /s2
aB = +
A 254
= 5 rad/s
= 12 rad /s2
A
aB = (1625.2 + 3048)i − 6350j = 4673i − 6350j mm/s2
16.65
A
aA 1.2 2
m/s 2
= B 8 m/s2 +
1.2
o
A 30
m
B = 2 rad/s
aA = aB + aA/B
+ ↑ aA = −1.2α sin 30◦ − 1.2(2)2 cos 30◦

+ −→ 0 = 8 − 1.2α cos 30◦ + 1.2(2)2 sin 30◦
The solution is α = 10.007 rad/s2 and aA = −10.161 m/s2
∴ aA = 10.16 m/s2 ↓
303

16.66 Let A and B be points on the disk.
vA + vB/A = vB
3 m/s
0.4 m B 1.0 m/s
A + A = B
0.4
+ ↑ 3 − 0.4ω = 1.0 ω = 5 rad/s

Note that the belt accelerations shown in Fig. P16.66 are the tangential components
of the accelerations of points A and B on the disk.
aA + aB/A = aB
0.5 m/s 2
2 0.2 2
0.4 m 0.4
A
0.2 2 + A
B = B
, 0.4 1.2 m/s2
+ ↑ 0.5 − 0.4α = −1.2 α = 4.25 rad/s2
16.67
vC
C
mm
406
vB
B 203 mm 15 rad/s
A
203
ω BC = 0(vB and vC are parallel) β = sin−1 = 30◦
406
aC = aB + aC/B
203(15) 2 mm/s 2 406 BC C

30o
mm
aC = 203 mm 15 rad/s +
406
B A BC
B
+ → 0 = 203(15)2 − 406αBC cos 30◦ αBC = 129.9 rad/s2

+ ↑ aC = 406αBC sin 30◦ = 406(129.9) sin 30◦ = 26370 mm/s2 ↑
304

16.68
A
3 rad/s
1.8
3m
1.83 m
m B
1.22
vC vB
C
ω BC = ω AB = 3 rad/s (A is the I.C. for BC)

β 0.61 1
sin = β = 2 sin−1 = 38.94◦
2 1.83 3
β 38.94◦
180◦ = β + 2γ γ = 90◦ − = 90◦ − = 70.53◦
2 2
3 rad/s
A 12 rad/s 2 1.22 B
BC
aC
1.8
m
1.22
BC
C = 1.83(12) m/s2 +
3m
1.22(32) m/s2 C 3 rad/s

B 1.83(32) m/s 2
aC = aB + aC/B
+ ↑ 0 = 1.83(32 ) cos β + 1.83(12) sin β + 1.22(32 ) cos γ + 1.22αBC sin γ
0 = 16.47 cos 38.94◦ + 21.96 sin 38.94◦ + 10.98 cos 70.53◦
+ 1.22αBC sin 70.53◦
αBC = −26.32 rad/s2
+ ←− aC = 1.83(32 ) sin β − 1.83(12) cos β − 1.22(32 ) sin γ + 1.22αBC cos γ
= 16.47 sin 38.94◦ − 21.96 cos 38.94◦ − 10.98 sin 70.53◦
+ 1.22(−26.32) cos 70.53◦
aC = −27.8 m/s2 = 27.8 m/s2 −→
16.69
1
By inspection: bω = 2bω BC ∴ ω BC =
2ω
aC b BC 2
2b(
C = b +
2
A b B 2b C
B 2b BC
aC = aB + aC/B
ω 2 3
+ ←− aC = bω 2 + 2b = bω 2 ←−
2 2
1
+ ↑ 0 = bα − 2bαB/C αBC = α
2
305

16.70
B 4 m/s
30o
0.1
6m
D C
BC vC
vB 4
ω BC = = = 28.87 rad/s (D is the I.C. for BC)
BD 0.16 cos 30◦
aC = aB + aC/B (note that aB = 0)
28.87 rad/s
C B
aC =
0.1
BC
6m
30o
0.16 C
BC 0.16(28.872 ) m/s2
+ −→ 0 = 0.16αBC cos 30◦ + 0.16(28.872 ) sin 30◦

αBC = −481.2 rad/s2
+ ↓ aC = 0.16αBC sin 30◦ − 0.16(28.872 ) cos 30◦
= 0.16(−481.2) sin 30◦ − 0.16(28.872 ) cos 30◦
aC = −154.0 m/s2 = 154.0 m/s2 ↑
16.71
vA = 2 m/s A
0.5
0.4 vB
BC
E 0.3 C
B 0.6
AB
Point E is the I.C. of bar AB

vA 2
ω AB = = = 5.0 rad/s
EA 0.4
vB = EBω AB = 0.3(5) = 1.5 m/s
vB 1.5
ω BC = = = 2.5 rad/s
BC 0.6
aB = aA + aB/A
306

A AB = 5 rad/s
= 2.5 rad/s AB
0.6(2.5)2 m/s2 BC
1.2 m/s2
0.5
B C = A + 0.4
0.6 0.5(5)2 m/s2
BC
0.3
0.6 BC B
0.5 AB
4 3
+ −→ 0.6(2.5)2 = −1.2 + (0.5αAB ) − (0.5)(5)2
5 5
4 3
+ ↑ −0.6αBC = (0.5)(5) + (0.5αAB )
2
5 5
The solution is αAB = 31.125 rad/s2 and αBC = −32.23 rad/s2
∴ aAB = 31.1 rad/s2 αBC = 32.2 rad/s2
16.72
AB vB
C 0.61 m
B
0.457 m
A 1.83 m/s
Point C is the I.C. of bar AB.
0.457ω AB = 1.83 ω AB = 4 rad/s
vB = 0.61ω AB = 0.61(4) = 2.44 m/s
vB 2.44
0.61ω BC = vB ω BC = = = 4 rad/s
0.61 0.61
aA = aB + aA/B
0.61 2 5m AB
= 4 rad/s
.76
BC
AB
0.61 m/s2 0 3
A = C
0.61 m B +A 4
0.61(4)2 m/s2
BC
BC
=4 rad/s 0.7625(4)2 m /s2 0.7625 AB
4 3
+ → 0.61 = −0.61(4)2 + (0.7625)(4)2 + (0.7625)αAB
5 5
2
αAB = 1.3333 rad/s
307

3 4
+ ↑ 0 = 0.61αBC + (0.7625)(4)2 − (0.7625)αAB
5 5
3 4
0 = 0.61αBC + (0.7625)(4)2 − (0.7625)(1.3333)
5 5
2 2
αBC = −10.60 rad/s = 10.60 rad/s
16.73
vB = ABω AB = 1.2(10) = 12.0 m/s ↑
Note that vB and vD are parallel. Therefore, bar BD is translating in the position
shown.
vD 12
∴ ω BD = 0 vD = vB = 12.0 m/s ↑ ω DE = − = 5.0 rad/s
DE 2.4
aD = aB + aD/B
3
4
1.5 BD
DE = 5.0 rad/s
2.4 DE D
DE
2.4 m D 1.2(10)2 m/s2 10.0 rad/s 1. 5m
2.4(5)2 m/s 2
= B 1.2 m
A + BD
4
3
E
B
3
+ → −2.4(5)2 = 1.2(10)2 − (1.5αBD ) αBD = 200 rad/s2
5
4 4
+ ↑ 2.4αDE = (1.5αBD ) 2.4αDE = (1.5)(200)
5 5
2
αDE = 100 rad/s
16.74
Velocity Analysis
The instant centers are point C for the wheel
and point E for bar AB.
√
vA = CAωwh = 508 2(0.8) = 574.7 mm/s
√
AF = 12702 − 5082 = 1164 mm
EA = AF/ cos 45◦ = 1646 mm
vA 574.4
ωAB = = = 0.3490 rad/s CCW
EA 1646
Acceleration Analysis Assume αAB to be counterclockwise.
308

+
→ aB = 325.12 + 154.69 cos 23.58◦ + 1270αAB cos 66.42◦
+ ↑ 0 = 0 + 0 + 154.69 sin 23.58◦ − 1270αAB sin 66.42◦
Solving gives αAB = 0.05316 rad/s2 and aB = 493.8 mm/s2

Therefore, the acceleration of end B is 493.8 mm/s2 →
16.75
B vB
0.8 m
0.4 m
A
BC
0.6 m C D
. 8 rad/s
vC
Point A is the I.C. of bar BC.
vC = 0.4(8) = 3.2 m/s

3.2
0.6ω BC = vC ω BC = = 5.333 rad/s
0.6
vB = 0.8ω BC = 0.8(5.333) = 4.266 m/s
4.266
0.8ω AB = vB ω AB = = 5.333 rad/s
0.8
aC = aB + aC/B
309

Other documents randomly have
different content
Frank explored the place where he was confined, and found it a
large underground vault or cellar. There was a passage leading from
it to some slippery stairs of stone. At the head of the stairs was a
stone door. Hercules could not have moved that door from its
position.
Frank explored all parts of his prison, and what he discovered was
of a most discouraging nature.
There seemed no possible way of escaping.
Most boys would have given up in despair, but Frank still clung to
hope, vowing he would live to “get square” with his captors.
His matches were running low, and the thought of being left with
no redemption from continued darkness was far from pleasant.
He had returned to the spot where he had found the skeleton,
when he was startled to hear a jarring, scraping sound far along the
passage.
In a moment the boy was on the alert, his heart thumping
violently, his whole body quivering with excitement.
Some one was coming.
At the farther end of the passage there was seen a gleam of light.
“They are coming to finish me!” thought Frank. “It must be that.
Well, they may have a heavy job.”
He had no weapon save his bare hands, but he was desperate,
and he felt capable of coping with several men. He would be fighting
for his life, and he would possess all the fury of a cornered tiger.
The light moved, and he could see that its bearer was coming
down the steps of stone, moving rapidly.
Swiftly the boy moved toward the passage, making no noise. He
would be ready to meet the bearer of the light the moment the vault
was entered.
Peering along the passage, he saw a strange figure approaching—
a girl, muffled and veiled, holding a lighted lamp of quaint and
curious make above her head.
Her face below the eyes was hidden by a veil.
“Can it be?” thought Frank, in amazement. “Is this Igela! or is it
the black wench that entrapped me?”
The flaring light was of a baffling nature, and he could not make
out much save that it was a girl beyond the shadow of a doubt.
The thumping of his heart became so loud that he feared she
must hear it. He pressed one hand over it, trying to smother the
sound of its heavy and rapid pulsations. Through his head the blood
was rushing like a riotous, roaring river.
His mind was filled with a thousand wild conjectures and
speculations. His thoughts were in a mad tumult.
It seemed to the eager boy that the girl advanced with the
slowness of a snail, and still he dreaded to have her come nearer.
Never before in his life had he been so wrought up, and he began to
realize that his confinement in that horrible place had worked havoc
with his nerves.
Many of the sensations Frank experienced as he waited for the girl
to approach were new to him, and he wondered at himself. A
thought that he must go mad if forced to remain long in that vault
flashed like a bloodied rocket through his brain.
Then he noticed that the hand of the girl which held the lamp was
shaking as if she had the palsy. It was a fair, plump hand, but it
seemed about to loose its hold and let the lamp fall.
The girl halted, and it was plain that she was nearly overcome
with fear. She seemed on the verge of flight.
“She must not run away now!” thought the excited youth. “If she
tries it, I shall overtake her before she can reach the steps.”
He bent forward, ready to make a dash if she turned to retreat.
“Frank!”
She spoke his name, and it was the voice he had heard once
before in the Square of Tangier. For all that it echoed strangely in
that underground place, he was sure that he recognized it.
“Igela!”
He spoke the name softly, so that she might not be frightened.
He saw her start, saw her lean forward doubtfully, her attitude
being that of a person who fancies he has heard something, but is
not sure.
“Igela!”
He repeated the name.
“Allah be praised!” sobbed the girl, again starting forward. “He
answers me! He lives! He is here!”
Then Frank advanced toward her saying:
“I am here, and I am alive.”
She swayed, and he caught the lamp from her hand with a
deftness that saved it from falling. His free arm encircled her. He
longed to see the face hidden by that veil.
In a moment the girl had recovered, and she started from him,
saying swiftly:
“Am I a child that I lose my strength thus! I am strong now. How
you escaped from Bab-el-Maroc I know not. Great was my wonder
and joy to see you in Tangier. Ben Ahmet told me you were dead,
and Ali Mustaf swore it was true.”
Frank was not a little puzzled by her words. He would have
questioned her, but she suddenly started, catching him by the arm,
and panting:
“Listen! Is it some one I hear coming this way?”
Both listened, but heard nothing save the rustling movement of a
rat.
“We must get away soon,” whispered the girl. “If they should
come—if they should find us here! We must go!”
“But how did you know where to find me?” asked Frank, whose
curiosity was great. “How did you know where they had placed me?”
“I heard them talking. They did not know I was listening. They
spoke of you, saying they had disposed of you at last, and that you
would never escape to trouble them more. I stilled my heart—I
listened, and I heard them say where they had placed you. Then,
when my time came, I hastened here. The door was barred, but
with all my strength I dragged the bar away. Then it was that my
courage nearly failed me. I prayed to Allah. I took up the lamp and
here I am.”
“Brave little girl! They had left me here to die—to starve and be
devoured by rats!”
“And I will save you! But, oh, Frank! how are we to get out of
Tangier? I cannot! You must go alone—you must leave me to my
fate!”
Her voice broke in a sob, and he drew her closer to him, mystified,
bewildered, but dauntless.
“That I will never do,” he boldly declared. “You shall come with
me. We will seek the protection of the United States Consul. He will
aid us.”
“No, Frank, it is not possible. He will have no power to hold me
from Ben Ahmet. It is not possible that we may escape together.
That we must give up. You will be fortunate if you are able to escape
with your life. Come, let us hurry from this place.”
CHAPTER VI.
FRANK’S VISITOR.
He longed to question her more, longed to solve the mystery that

infolded the strange girl, but, well understanding the danger of
discovery by the Moors, he permitted her to lead the way along the
passage.
The stairs were reached, and Igela sprang up them as lightly as a
fawn.
At the top of the stairs the heavy door was standing partly open.
Beyond that door they might come face to face with Ben Ahmet and
Ali Mustaf.
Frank was not armed. He would have given almost anything for a
revolver at that moment. With such a weapon in his possession, he
would have felt able to cope with half a dozen Moors.
The door was reached, and they passed beyond it, leaving the
horrors of the underground dungeon behind.
Every nerve in Frank’s body was at a high tension, and he was
ready for anything they might encounter.
They came into a long, low room, the walls of which were bare
and whitewashed. The room was unfurnished and gloomy, with no
opening windows to admit light and air.
Igela led the way through this room and into a passage, where
she paused to listen, her hand trembling on Frank’s arm. He grasped
her fingers, and gave them a reassuring pressure.
Then they stole along the passage, making as little noise as
possible. Past a door that looked into an empty room they made
their way, and, as they came to a strong door, Igela made him put
out the light.
In the darkness his arm stole around her, and she let him hold her
thus while she listened.
Being satisfied that all was well, she opened the door, and a rush
of air smote Frank in the face, telling him that the door opened to
the outside world.
How grateful that fresh air was to the boy who had been
imprisoned in a place that was close and dank! He drew it into his
lungs with a keen sense of delight, and he seemed to become
himself once more—cool, nervy, self-reliant.
But they were not yet on the street, as he quickly discovered.
They were in the court which he had once before crossed that night.
There was no moon, but the stars told that the night was well
spent, and morning approaching. Igela seemed to read the stars, for
she whispered:
“We must hasten. You must be far from here when day comes.”
Across the court they hurried, passed through another door and
another passage, and came at last to a door that let them out upon
the street.
They had seen no one—not even a sleeping servant. Fortunate,
indeed, had they been, and Frank felt that Providence had smiled on
them.
“You are free,” whispered Igela, with something like a sob. “Go!
We shall never meet again. Leave Tangier without delay. Ben Ahmet
has the sultan’s favor, and the sultan is all powerful here. Go, Frank!
May Allah protect you! Farewell.”
He did not release her.
“I will not go like this!” came swiftly from his lips. “I must know
the truth—I must understand this mystery. Igela, lift that veil. The
stars are bright, and my eyes have become accustomed to darkness.
I must see your face. Lift your veil!”
She raised her hand to obey, and, at that moment, it seemed as if
the very heavens came crashing and thundering upon Frank’s head.
He fell prostrate upon the ground, where he lay like a creature
death-stricken by a thunderbolt!
How long he lay insensible in the street Frank never knew. When
his senses returned and he sat up, he saw an old water carrier
staring wild-eyed at him.
Frank spoke to the man, but the water carrier seemed frightened,
and hastened away, muttering prayers in the Berber tongue.
And now the terrible pain that had been in his throat was in his
head. He put up his hand, and it was red with blood when he took it
away.
“I was struck down,” he muttered.
It was morning. In the East was a gray light that was spreading
and growing rosy. It was the blush of the newly risen day.
In a short time the boy gathered his scattered wits. He
remembered all that had happened—remembered that Igela had
aided him to escape—remembered that the heavens had seemed to
crash upon his head just as she was about to lift her veil.
And he had not seen her face! To him she remained a baffling
mystery.
Who struck him down?
What had become of her?
Then came another question that puzzled him more than all.
Why had he not been slain?
He looked around. Near at hand was a small door set in the bare
white wall. It was firmly closed.
“We came out of there,” he told himself. “Some one must have
been in that nook near by. We were seen, and I was knocked over.
Then she was dragged back.”
The thought made him feel desperate. He longed to arise and
batter down the door, walk into the house, and save her from her
persecutors.
“I am faint and weak and I can do nothing. I will mark this spot,
so I may find my way back to it.”
Then he arose and moved away with an uncertain step, having
taken note of the appearance of the door, so he felt sure he would
recognize it if he saw it again.
Tangier is not an easy city for a foreigner to find his way through,
as Frank discovered. He moved slowly, noting every peculiarity of the
narrow, crooked street.
Muffled figures passed him, gazing aslant at him from beneath
beetling brows. All seemed to wonder that a foreigner and a
Christian should be astir, wandering through the streets at that hour
in the morning.
That was what Frank fancied at first, but he finally lifted his hand
to his throbbing head again, and he understood why they stared at
him so strangely.
He was hatless, and the blood from his wound had dripped down
the side of his face. He knew he must be an object to attract the
curiosity of any beholder.
He found the square, and then it was not difficult to make his way
to the hotel.
As Frank had expected, he found Professor Scotch and Ephraim
nearly distracted with fear and suspense. When they saw him their
joy was boundless.
It did not take the lad long to relate his adventures, having first
bathed the wound on his head, and bound it up with a cloth.
“Well, for genuine downright foolhardiness!” began the professor.
“You should remember that I was in the company of Azza, your
trusted servant,” said Frank, smiling grimly.
“Hang that rascal! If I ever get hold of him— Well, he will wish I
hadn’t! He ought to be horse-whipped!”
“He’d oughter be shot!” cried Ephraim.
“Well, I scarcely fancy we shall see him again while we remain in
Tangier,” said Frank, quietly. “That does not worry me nearly so
much as the mystery that surrounds the Pearl of Tangier. If I do not
find a way to solve that mystery I shall regret it all my life. She must
be saved from those miserable old Moors.”
“It is easy to say that, my boy; but how are we to save her?”
“You must lay the case before the United States Consul,
professor.”
“What good would that do? He would have no right to interfere
between a girl and her uncle, who is her lawful guardian. It is not
possible for us to help her now.”
“That’s pleasant! But you do not know, professor.”
“I know that we are going to get out of this city as soon as
possible. You will be killed if we remain here much longer.”
“Professor, in the United States you are my guardian, but we are
in a heathen country now, and I refuse to be dragged away till I am
sure I have done everything in my power to aid that unfortunate
girl.”
“Are you in love with her?”
“No; but my manhood has been appealed to, and I feel that it is
my duty to save her, if I can.”
“Yeou may not be in love with her,” drawled Ephraim; “but, by
thutter! she’s smashed on yeou.”
“There is something remarkable about that,” said Frank. “The girl
seems to know me, and she speaks as if there had been something
between us in the past. That seems impossible, for I have no
recollection of her, and she appears to be a devout little
Mohammedan. Is this not mystery enough to pique the curiosity of
anybody?”
“Your curiosity may cost you your life.”
“Oh, you are a croaker, professor. Besides my curiosity to know
more about the girl, I want to get even with Ali Mustaf and Ben
Ahmet, as I swore I would when I was a captive in that underground
dungeon.”
Professor Scotch made a gesture of despair.
“Wait till I get you back to the United States!” he cried. “I’ll throw
up my job as your guardian quicker than a wink.”
The professor found it useless to argue with the boy, and he gave
it up.
Frank remembered what Igela had said about Bab-el-Maroc, and
he sought to know what she meant. He found out that there was a
gate of the city of Fez by that name, and also a castle so called.
The castle belonged to Ben Ahmet, and was situated outside of
Fez.
Igela had spoken of Frank’s escape from Bab-el-Maroc, but the
boy had never been there, which made the mystery all the deeper.
Having eaten breakfast, and rested through much of the forenoon,
Frank accompanied the professor on a visit to Mr. Adams, the United
States Consul.
The houses occupied by the members of the foreign legations
were situated near the square. They were all very modest little
buildings, but they had the appearance of palaces in the midst of the
paltry dwellings by which they were surrounded.
Mr. Adams received the professor pleasantly, and shook hands
with Frank, saying:
“It really does one good to look into the face of a lively, wide-
awake American youth.”
Seated in the cozy little parlor, Frank related the story of his
adventures since entering Tangier.
Mr. Adams listened with interest which grew to wonder and
astonishment. By the time Frank had finished the man was
breathless. “My boy, my boy!” he exclaimed, “you are indeed
fortunate to be alive! Ben Ahmet is rich and powerful, and has the
favor of the sultan. If he had murdered you, you never would have
been heard of again, and all efforts to trace you would have been
baffled. You are only a ‘Christian dog,’ and your life is of little
consequence in this miserable land.”
“But the girl,” cried Frank; “can nothing be done to save her from
old Ali Mustaf, whom she loathes?”
“I fear not. It is in the power of Ben Ahmet to make her marry
whoever he may choose, and Ali Mustaf will get her, if Ben Ahmet
wills it so.”
Such a thing was terrible for the boy to contemplate, and it did
not seem possible that there was no law to prevent it. It was almost
impossible for Frank to realize that he was in a land where might
ruled with a heavy, blood-stained hand, and where the innocent and
helpless cried out in vain for mercy and justice.
“I do not propose to give up,” declared Frank, resolutely. “Fortune
has smiled on me many times, and it may smile again. It is not very
far across the straits to Spain. In Spain we could defy Ben Ahmet
and Ali Mustaf to drag Igela back to Morocco.”
“But what could you do with her if you succeeded in getting her
out of the country? She is a Moorish maiden, and it is scarcely
probable that you want to marry her.”
“I would not permit it if he did!” roared Scotch.
“I am not contemplating matrimony just at present,” smiled Frank.
“But I am determined to solve this mystery, and I will succeed.”
Mr. Adams shook his head gravely.
“You are rash and headstrong,” he said. “Take my advice and let
the Pearl of Tangier alone.”
He refused to aid Frank in any way, but was courteous and polite.
When Frank and the professor left the house and started to return to
the hotel the boy’s heart felt like lead in his bosom.
Shortly after the hotel was reached Ephraim Gallup came rushing
into their room, caught hold of Frank excitedly, and spluttered.
“Gol derned ef yeou hain’t lost her naow!”
“What do you mean?” demanded the other boy.
“She’s gone.”
“Who?”
“Igela.”
“Gone where?”
“Flew the coop—left the city.”
“How do you know?”
“Saw um go.”
“Saw them? Whom?”
“Igela, Ali Mustaf, Ben Ahmet and a gang of black-skinned fellers,
all armed to the teeth. They rode away after a caravan. I was jest
ramblin’ araound, an’ I got outside the city, so that’s haow I
happened to see um go.”
“Are you sure it was Igela?”
“Yep. She saw me.”
“She did?”
“Yep. So did Ben Ahmet. By thutteration! it’s a mighty good thing
I’ve got long laigs. Ef I hedn’t I wouldn’t be here naow. Old Ben sot
three uv them black fellers arter me, an’ yeou’d oughter seen me
tear up the dust an’ git aout uv that. They chased me a piece, yellin’
like mad, but I got erway, an’ here I be.”
Frank took a quick turn up and down the room.
“So they have dragged Igela away!” he muttered. “Without doubt,
they are bound for Fez and the castle of Bab-el-Maroc. I shall
follow.”
CHAPTER VII.
A MAD VENTURE.
Frank was determined. Professor Scotch objected in vain. He

appealed to Ephraim, and the Yankee lad said:
“I’ll stick ter Frank. I don’t keer where he goes!”
Frank set about pleading the professor to succumb, and he was
persuasive to a degree that astounded Ephraim. Indeed, it seemed
that the boy almost hypnotized Scotch and led him to consent to
follow the old Moors who were carrying Igela away.
The professor himself was amazed when he gave in, and he
remained in a dazed condition while Frank called the proprietor of
the hotel and bargained for three horses, which he instructed the
professor to pay for.
The horses were quickly furnished, and Scotch paid for them,
muttering a feeble remonstrance, but feeling unable to resist the
power of the boy’s steady eyes, which never left his face for an
instant.
Frank had triumphed, but he showed no exultation. His face was
grim and set, and it seemed that he had formed a resolution from
which nothing could turn him.
In company with the professor and Ephraim, he went out to seek
information. He learned that two caravans had lately started for Fez,
either of which might be overtaken by nightfall by hard riding.
That was what he wished to know.
Ali Mustaf and Ben Ahmet would travel with one of those
caravans. Frank, Ephraim and the professor would travel with the
other. Frank would bide his time, and he felt sure he would be able
to meet Igela and speak with her.
It was a wild and desperate project at which a man would have
hesitated, but Frank was a youth to whom nothing seemed
impossible.
Back to the hotel they went. While they ate, the horses were
ordered saddled and brought around. Frank had looked them over,
and found them tough little Arab horses, looking as if they could
travel and stand hardship. That satisfied him.
After eating, Frank went to his trunk, from which he took a brace
of revolvers, having lost his others the night before. In his trunk he
also carried a light, short-barreled Winchester repeater, and this he
took out.
His eyes fell on the magician’s cabinet, and a thought struck him.
He hesitated, and then muttered:
“Who knows? These Moors are superstitious, and they might
prove valuable. I will take such as I can carry.”
From the cabinet he extracted numerous things which he
concealed about his person. Among other things was a small electric
battery.
Ephraim armed himself in a manner similar to Frank.
The professor had a strong aversion for firearms, and so he went
about entirely unarmed.
Frank did not forget to take some strong field glasses.
When everything was ready they descended and left the hotel.
Three black men were holding the horses at the door, and the
proprietor was there to see them off.
“How far are you going?” he asked, regarding them curiously.
“Not far,” answered Frank. “It is probable you will see us back to-
morrow.”
The proprietor shook his head gravely.
“I fear for that,” he said. “You had better keep within a few miles
of the city, for the plains at a distance are infested with robber
bands, any of which would not hesitate to do murder. I do not
understand why you are going outside the city, anyway, for there is
nothing to be seen.”
Frank was not inclined to satisfy his curiosity, and they rode away,
waving him a farewell, which he returned.
Not till they were beyond the city’s limits did the professor think
that he had not told his friend, the United States Consul, of this
foolhardy expedition. He would have turned back at once, but Frank
said:
“Very well, professor, you may go; but we shall not wait for you,
as we have no time to lose if we hope to overtake one of those
caravans before nightfall.”
The professor had turned his horse about. A groan left his lips,
and it changed to a cry of horror as he lifted his eyes to the high
posts which stood on either side of the gate in the white wall of the
city.
“Look!” he gasped. “It is horrible!”
The boys looked, and on each of those posts they saw a human
head that had been severed from the body. These heads had been
suspended by the hair to some curved points which projected from
the posts, and they hung there in all their ghastly horror, dripping
blood and gazing with sightless eyes toward the desert for which the
boys and the professor were bound.
“Wal, I be gol derned!” gurgled Ephraim, his voice sounding husky
and catching in his throat. “Them’s purty things to look at!”
“They are heads of criminals,” explained Frank. “I have heard that
it is the custom of this country to suspend the heads of criminals at
the gates of the cities in this manner. They are placed there as a
warning to others.”
“A warning to us,” said the professor, his voice shaking. “It tells us
we had better get out of this wretched country without delay. It is a
warning to be heeded.”
“Nonsense! Come on, professor; we are losing time.”
“Go on! I am going back.”
“Good-by, professor.”
At a signal from Frank the two lads rode onward.
The professor watched them a few moments, and then rode after
them, calling:
“Hold on; I will go.”
Of this Frank had felt confident all the time.
Away to the south they rode, having been told to bear a little to
the east. Frank had a compass, and he did not believe they would
get lost in the desert so they could not find their way out.
Long, level plains lay before them. Here and there they could see
small huts made of sun-baked clay.
Occasionally they passed by fields where some crude efforts at
tilling the soil had been made, but the greater part of the country
was bleak and bare.
The sun beat down mercilessly on the bare plain. The grass was
withered and brown, and patches of sandy soil reflected the heat.
There were no roads, but for some time after leaving Tangier they
could follow in the track made by many caravans that had passed
that way. Gradually this track became fainter and fainter, till at last it
was lost entirely.
The solitude of the plains was depressing, the silence was
awesome.
Frank began to realize the magnitude of his undertaking, and, for
the first time, he doubted the wisdom of the attempt; but he said
nothing, riding onward in silence, his face firm and resolute.
Professor Scotch was silent and gloomy, while Ephraim’s jests
seemed to fall flat and be lost on the others.
The sun swung lower and lower, but its rays seemed to lose none
of their scorching heat.
“What ef we should not find one of them air carryvans ter-night,
Frank?” asked Ephraim, rather anxiously.
“We will find it in the morning,” was the calm reply.
Scotch groaned.
“And have to stay all alone on the desert to-night,” he exclaimed.
“We would be devoured a hundred times by wild beasts.”
“It’s not wild beasts we have to fear so much as wild men,” said
Frank. “We must keep our eyes about us.”
“What’d we eat for supper?” asked the boy from Vermont, who
possessed a very healthy appetite. “That’s what I’d like to know.”
“We would not eat until we found the caravan in the morning.”
“If we did not find the caravan,” put in the professor, “we might
starve. There is a fine chance to starve out here.”
“I scarcely think we will starve. I have provided for that.”
“You have? Why, you have brought no provisions.”
“No; but I have brought something that will keep us from
starving.”
“What is it?”
“Some nuts.”
“What kind of nuts?”
“Koola nuts, which I found in Bakalailand, far to the south. The
natives down there eat this nut when they cannot obtain food, and it
keeps up their strength and preserves them from hunger for many
days. It is a wonderful little nut, but it is dangerous.”
“Haow’s that?” asked Ephraim.
“It is a very easy thing to fall into the habit of eating it to obtain
relief from over-exertion, and this habit fastens itself on a person like
drinking or smoking. It shows no ill result at first, but it is ruinous to
one who persists in its use. It will make such a person a tottering
wreck, like a victim of the morphine habit. Like all good things, the
koola nut may be used to excess. In the United States several
concerns advertise decoctions made from the koola nut,
recommending them to athletes, bicyclists and all who exert
themselves in sports and pastimes. College lads are taking to its use,
in case they play football, baseball or anything of the sort. Some of
them will become addicted to the habit, and it may ruin them.
Bicyclists have found it refreshing and invigorating after a long run,
and they are becoming victims of the habit. Hundreds, yes
thousands, will be weakened and broken down by it. It is——”
“Hold on, Frank,” cried Ephraim. “Jest let the kooly nut rest a
while, an’ see what you make uv this.”
He pointed across the plain to where a tiny cloud of dust could be
seen. In the midst of the dust was a moving mass that became more
and more distinct with each passing moment.
“Horsemen,” said Frank Merriwell, grimly. “Look to your weapons,
Ephraim. We may have trouble.”
Professor Scotch’s teeth chattered.
“We are all done for!” he groaned. “This is the end of this foolish
expedition. I knew how it would come.”
“Wal, we’ll raise a little rumpus before they chaw us up,” said
Ephraim, in his quaint way. “I’d feel a little safer ef I was to hum on
the farm, but ef I’ve gotter fight I’ll fight fer all I am worth, yeou
bet!”
Frank was examining his rifle, making sure it was in perfect
working order.
The body of horsemen approached with great swiftness, so that in
a short time they could be seen quite distinctly. Frank surveyed them
through his field glass.
They numbered more than half a hundred, and were dressed in
long, flowing robes of many colors. About their heads they wore
turbans. They were armed with muskets.
Beyond the horsemen Frank saw a caravan of camels that was
approaching, and he immediately decided that the people of the
caravan had seen himself and his companions and had sent out the
band of horsemen to intercept them.
“Ten to one they are Ben Ahmet’s vassals,” was his thought. “It is
possible he has received word from Tangier that we are on the
desert, and he has sent his slaves to murder us. Well, we will die
hard.”
As they approached, the horsemen began shouting and waving
their long-barreled rifles over their heads. They rode recklessly,
madly, and the sound of the horses’ hoofs was like sullen thunder.
The leader was an old man with a long white beard, wearing
about his head a bright-colored turban. He rode his coal-black horse
like a youth of twenty years.
“Jingoes! they can ride!” muttered Frank, admiringly. “They remind
me of American cowboys.”
“They kinder make me think it’s unhealthy araound here,” gurgled
Ephraim. “I’m beginning to wish I hedn’t come.”
“Brace up,” came sharply from Frank. “Everything depends on our
nerve now. If we show signs of weakness, there is not one chance in
a hundred for us. Keep a stiff backbone, Ephraim.”
“It’s a fine thing to say ‘brace up,’” fluttered the agitated professor,
“but what show have we against that gang of cutthroats?”
“We are not going to lie down and die, professor.”
Of a sudden, with a wild yell, the horsemen divided and swept
around the party in opposite directions, passed and swept around
again.
“Like Indians in the Western States,” breathed Frank, seeing them
string out till there were two parties of horsemen riding in opposite
directions, and both surrounding the professor and the two boys.
These evolutions were continued for some time, with the caravan
of camels steadily approaching while it was going on. When the
Arabs had shown their skill as riders, the old leader, or sheik, gave a
signal that caused them to wheel into one compact mass. Then the
chief rode boldly toward the professor and boys.
“I s’pose he thinks aour hair is standin’ by this time,” drawled
Ephraim.
“Be cool,” directed Frank. “I will meet him.”
CHAPTER VIII.
AMATEUR MAGIC.
Frank dismounted and calmly advanced to meet the old Arab,

having given his rifle to Ephraim.
“What do you desire of us, sir?” asked Frank, as they came near
together.
The old man glowered at the boy, and then asked, in rather poor
English:
“Is there no man with you? Ain-el-Khair has no time to waste with
boys.”
Frank flushed a bit, drawing himself up proudly, as he returned:
“Though I am a boy, I am the leader of this party. If you have any
business with us, you will do it with me.”
“By the beard of the Prophet, you speak boldly for a youth! But
you do not know me, else you would grovel in the dust at my feet.”
“I am not in the habit of groveling in the dust for any one,” said
the boy, proudly. “I scarcely think I would begin with you.”
The scowl on Ain-el-Khair’s face deepened.
“I say you do not know me,” he repeated.
“Ah, but I know you well,” declared Frank. “You are a robber and a
great rascal. You hate your enemies, and you slay them with delight.
Your hands are stained with blood, but your conscience does not
trouble you.”
“Dog of a Christian!” roared the old sheik, quivering with passion.
“Do you dare speak thus to me?”
“Why should I fear? You cannot harm me!”
This statement was sufficient to cause Ain-el-Khair’s face to
change from an expression of fury to one of derision and
amusement.
“Fool!” he sneered. “It must be that you have lost your senses. I
have more than half a hundred men behind me, and they would
wipe three Christians off the face of the earth in a moment.”
“If you had a thousand men, you could not harm me. I am
protected by a power you know nothing of.”
The old sheik knew not what to make of the boy, and so he said:
“I will not pass words with you. My followers have arrived, and we
must move on. When you have paid tribute, we will leave you.”
“We shall not pay tribute to you.”
“What? Knave, do you dare refuse? Then I will slay you with my
own hand!”
Ain-el-Khair drew a long-barreled pistol, which he pointed at the
boy; but Frank did not seem at all frightened.
The caravan of camels had halted, and the Arabs were gathered in
a group at a little distance, watching what was passing between the
old sheik and the boy. Much nearer were the professor and Ephraim,
who had also dismounted, their horses standing close at hand.
“I tell you it is not possible for you to harm me, Ain-el-Khair,”
Frank again declared. “If you think you can, take aim and shoot. I
dare you to do so.”
The old robber was not one to be dared in such a manner. He
lifted the long-barreled pistol, and, without hesitation, fired at the
boy.
When the pistol spoke Frank pretended to take the bullet from his
teeth. He stood erect and unharmed, holding a round ball of lead
between thumb and finger, smiling at the astounded Arab.
Ain-el-Khair staggered, his eyes bulging from his head.
“Allah save me!” he gasped. “He is not harmed!”
“Not in the least,” said the lad, easily. “You might fire a hundred
bullets at me, and not one of them would do any harm.”
“You must be a sorcerer.”
“I am the greatest sorcerer alive. I cannot be slain, but I have
power to slay by touch.”
That was too much for the sheik to believe, and he plainly
expressed his unbelief.
Immediately Frank stepped forward and grasped both of Ain-el-
Khair’s hands. A yell of fear and pain came from the lips of the old
Arab, who began to squirm and dance in a most amazing manner,
trying to tear his hands away. After a moment of this, Frank released
him, stepping back.
The robber chief stared at the boy, with fear showing plainly in his
bulging eyes. This Christian was truly a great sorcerer.
“Are you satisfied?” demanded Frank; “or would you see more?”
Ain-el-Khair did not speak.
“Look!” cried the boy. “Behold my protectors. Had I willed it thus a
hundred of them would have planted their poison fangs in your flesh
when I touched your hands.”
Out of the boy’s sleeves, his pockets, and various parts of his
clothing hissing serpents writhed and twisted. They twined along his
arms, twisted about his legs and his neck, popped into view, and
vanished. All the while he was moving his hands up and down and
around, seeming to pick them off his body and cast them into the
air, where they instantly vanished. Of a sudden he slapped his
hands, and every serpent disappeared.
“Are you satisfied?” Frank again demanded.
“I am satisfied,” confessed the sheik. “You are a great sorcerer.
What wouldst thou have me do?”
A sudden thought flashed through the boy’s brain.
“Take me to Ben Ahmet,” he answered. “It is he whom I seek.”
“Ben Ahmet!” cried Ain-el-Khair. “A thousand curses on him! He
has led the sultan to place a price on my head. I have heard that he
is in Tangier, and that is why I am here. I hope to meet him face to
face when he attempts to return to Fez.”
“He is already on his way. He left Tangier this morning, and, with
his fighting men, he is somewhere on the desert. We have followed
to overtake him. We have little money with us, but if you can aid us
against Ben Ahmet, I will promise you a goodly sum. What is your
answer?”
“We will sit down together and talk it over. Perhaps it can be
done.”
So they sat upon the ground, Ain-el-Khair taking care to keep at a
distance from the boy whom he now feared and respected.
Frank had played a desperate game, and it looked as if he had
won. If Ain-el-Khair had fired at the boy’s head the game would
have ended suddenly in a tragedy, but the old sheik discharged the
pistol at Frank’s breast, and, although the bullet pierced the outer
clothing, no harm was done.
From the traveling magician of whom he had purchased the
cabinet the boy had obtained a bullet-proof shirt. This he had
donned before accompanying Azza in response to the appeal
supposed to come from Igela, which may account, in a measure, for
his unusual recklessness.
The small electric battery which came with the magician’s cabinet
was very powerful, and was supplied with some fine wires that ran
down Frank’s sleeves to his hands. Before going out to meet the
robber sheik Frank had taken care to see that the battery was in
working order, and he had given the old rascal a severe shock when
he grasped his hand.
The serpent trick was one of the illusions he had learned from the
magician, and it had proved very valuable in working on the
superstitious fears of Ain-el-Khair. Even after they had seated
themselves face to face upon the ground, the sheik was constantly
watching for the swaying head of a snake to appear somewhere
about the boy’s person. The old robber was sure a hundred serpents
must be concealed in Frank’s clothes.
The astonishment of Professor Scotch can be much better
imagined than described. To him it had seemed that Frank was crazy
when he advanced to meet the old chief, and what followed that
meeting filled him with unspeakable amazement. He could not
understand why Frank did not fall when the sheik fired point-blank at
him, nor could he imagine why Ain-el-Khair danced and yelled when
Frank grasped his hands.
By the time the serpents began to appear and disappear about the
boy’s person the professor realized that Frank was attempting to
overawe the Arab by a display of legerdemain.
“It is folly,” muttered the professor. “We shall be murdered just the
same.”
“Wal, I dunno abaout that,” drawled Ephraim Gallup. “By gum! I
kainder cal’late Frank knows what he’s doin’ of.”
The boy from Vermont was beginning to believe Frank could
accomplish almost anything he undertook, no matter how difficult it
might be.
For nearly half an hour the boy and the old sheik sat face to face
on the ground, talking earnestly. The robber chief was seen to make
excited gestures, as if much aroused by something Frank had told
him.
The sheik’s followers witnessed this interview with unbounded
astonishment. They could not understand what it meant.
Finally the old sheik and the boy arose, and Ain-el-Khair made a
gesture that caused his fighting men to leap upon their horses and
come tearing down at the two about whom they gathered, paying
not the slightest attention to the professor and Ephraim.
The chief made a brief speech in Arabic, and his words were
greeted with loud yells from his followers.
Then the band parted, and Frank walked back to his anxious
friends.
“For Heaven’s sake! what does all this mean?” fluttered the
agitated professor. “Explain it at once.”
“It means that I have made a compact with Ain-el-Khair,” declared
Frank, smiling triumphantly. “He hates Ben Ahmet and Ali Mustaf
most heartily, and he is looking for them now.”
“What kind of a compact have you made?”
“I have agreed to give him a garment that will make him bullet-
proof if he will aid us in rescuing Igela from Ben Ahmet. He says he
will do so, and will guard us to within a short distance of the wall of
Tangier.”
“But how can you give him a garment that will make him bullet-
proof?”
“By giving him the shirt I have on. You must stand between me
and the Arabs while I remove it. Bring two of the horses on the
same side.”
This was done, and Frank hastily and deftly removed the shirt,
while Ain-el-Khair supposed the young sorcerer was manufacturing

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Engineering Mechanics Dynamics SI Edition 4th

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α = 10e−0.5t ω = −20e−0.5t + C1 θ = 40e−0.5t + C1 t + C2

Initial conditions: ω = θ = 0 when t = 0. ∴ C1 = 20 rad/s, C2 = −40 rad

∴ ω = −20e−0.5t + 20 rad/s θ = 40e−0.5t + 20t − 40 rad

When t → ∞, ω → 20 rad/s. ∴ ω ∞ = 20 rad/s

10 = −20e−0.5t + 20 e−0.5t = 0.5 t = 1.3863 s

αt = C2 − 4800t = −6000 t = 1.250 min = 75.0 s

Initial conditions: ω = 0 and θ = 0 when t = 0. ∴ C1 = C2 = 0

α = 12 rad/s2 ω = 12t + C1 rad/s θ = 6t2 + C1 t + C2 rad

Initial conditions: θ = 0, ω = −24 rad/s when t = 0. ∴ C1 = −24 rad/s and C2 = 0.

∴ ω = 12t − 24 rad/s θ = 6t2 − 24t rad

θ = sin βt θ̇ = β cos βt θ̈ = −β 2 sin βt

at = Rθ̈ = −Rβ 2 sin βt

The acceleration is maximized when

There are three solutions:

v = (RB )o ω B 12.2 = 0.508ω B ω B = 24 rad/s

Belt between B and C:

v = (RB )i ω B = .203(24) = 4.872 m/s

v = RC ω C 4.872 = 0.61ω C ω C = 7.99 rad/s

vA = (RA )i ω A 3.66 = 0.2286ω A ω A = 16 rad/s

v B = RB ω B 3.66 = 0.381ω B ω B = 9.61 rad/s

(aB )t = abelt = (RA )i αA = 0.2286(155.99) = 35.66 m/s2

(b) Scalar equations

vC = Rω = 508(2.4) = 1219.2 mm/s

αB = α × rB/C + ω × (ω × rB/C ) = α × rB/C + ω × vB

(vB)y 2.44 m/s 2

+ −→ (vB )x = 2.44 cos 60◦ = 1.22 m/s

Wheel rolls without slipping: vC = Rω = 0.533ω

2.44 m/s 0.229

+ ↑ 2.44 = 0.229ω ω = 10.655 rad/s 

Wheel rolls without slipping: vC = Rω

1.83 m/s 1.22 m/s 0.762

+ → 0.5 = −0.6 + 0.16ω ω = 6.875 rad/s

+ → vC = −0.6 + 0.6875 = 0.875 m/s →

Solution II (vector notation)

ω = −0.61 sin θ + 0.762ω csc θ ω = 0.8 sin2 θ rad/s

Equating like components:

Equating like components:

0 = −203ω DE + 203ω BD − 914.4 = −152.4ω DE − 381ω BD

Geometry : 457 cos 30◦ + 686 cos φ = 762 φ = 57.73◦

30o vB 20o 0.5

+ −→ vB sin 30◦ = 0.5ω sin 20◦ vB = 0.3420ω

(0.3420ω) cos 30◦ = −2 + 0.5ω cos 20◦ ω = 11.516 rad/s

+ −→ (vC )x = 11.516 sin 20◦ = 3.939 m/s

+ ↑ 0 = (1.0 − 0.4ω BC ) cos 38.68◦ ω BC = 2.50 rad/s

By geometry, the angle between BE and the

Solving gives ωBE = 4.57 rad/s (CCW) 

30 = 138.56ω BD ω BD = 0.2165 rad/s

vD = vB + vD/B = 30j + ωBD × rD/B

vB = OB ω 305 = 152.4ω ω = 2 rad/s

+ ↑ 2.44 = 0.229ω ω = 10.655 rad/s

Solving gives ωBE = 4.57 rad/s (CCW)

x+ −6 cos 30◦ = 8 sin 30◦ − 0.2ω 2AB ω AB = 6.78 rad/s

+ ↑ 3 − 0.4ω = 1.0 ω = 5 rad/s

+ ↑ 0.5 − 0.4α = −1.2 α = 4.25 rad/s2